• 한국해양공학회지
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• 제31권4호
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• pp.315-323
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• 2017

This paper presents an integrated navigation system that combines ultra-short baseline (USBL), Doppler velocity log (DVL), and heading measurements for a deep-sea remotely operated vehicle, Hemire. A navigation model is introduced based on the kinematic relation of the position and velocity. The system states are predicted using the navigation model and corrected with the USBL, DVL, and heading measurements using the Kalman filter. The performance of the navigation system was confirmed through re-navigation simulations with the measured data at the Southern Mariana Arc submarine volcanoes. Based on the characteristics of the measurements, the design process for the parameters of the system modeling error covariance, measurement error covariance, and initial error covariance are presented. This paper reviews the influence of the outliers and blackout of the USBL and DVL measurements, and proposes an outlier rejection algorithm that is robust to USBL blackout. The effectiveness of the method is demonstrated with re-navigation for the data that includes USBL blackouts.

• 박물관보존과학
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• 제18권
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• pp.93-114
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• 2017

현재 베트남에는 ①탕롱 유적, ②호 왕조의 성채, ③미선 유적, ④호이안 고도시, ⑤후에 유적 등 5곳의 세계문화유산, ⑥하롱 베이, ⑦퐁나케방 국립공원 등 2곳의 세계자연유산, 세계복합유산인 ⑧짱안 경관유적 1곳 등 총 8곳의 유네스코 세계유산이 등재되어 있다. 지역적으로 보면 북부지역에 4곳, 중부지역에 4곳으로 분포하며, 남부지역에는 하나도 없다. 베트남의 자연유산은 모두 전형적인 석회암 카르스트 지형 경관이며, 2000년대 이후 등재된 문화유산 지역들은 대부분 북부지역의 옛 왕조들의 수도였던 도성 유적이다. 지금까지 베트남의 세계문화유산 등재 정책은 북부지역의 역사적 정통성을 강조한 유적을 중심으로 진행되어 왔으나, 향후 베트남 정부의 문화 정책이 좀더 남북 지역간 격차를 줄이고 통합적으로 진행될 수 있기를 기대한다.

• 한국해양공학회지
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• 제33권3호
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• pp.289-299
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• 2019

Various sizes of ROVs are being utilized in offshore industrial, scientific, and military applications all around the world. Because of innovative developments in science and technology, image acquisition devices such as sonar devices and cameras have been reduced in size and their performance has been improved. Thus, we can expect better accuracy and higher resolution even in the case of exploration using a small ROV. The purpose of this paper is to prepare a standard procedure for the identification of unidentified hazardous materials found during the National Oceanographic Survey. In this paper, we propose an IDEF (Integrated DEFinition) method modeling technique to identify unidentified targets using a small ROV. In accordance with the proposed procedure, an ROV survey was carried out on target No.16 with a four-ton-class fishing boat as a support vessel on September 18th of 2018 in the sea near Daebu Island. Unidentified targets, which were not known by the multi-beam data obtained from the ship, could be identified as concrete pipes by analyzing the HD camera and high-resolution sonar images acquired by the ROV. The whole proposed procedure could be verified, and the survey with the small ROV required about 10 days to identify the target in one place.

• 대한원격탐사학회지
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• 제39권5_4호
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• pp.1135-1144
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• 2023

국내 농업용 저수지는 1970년 이전에 축조되어 준공 년도가 50년 이상 된 노후화된 시설이 대다수이며, 소규모 저수지는 기본 제원 및 수위 등을 파악할 수 있는 계측시스템이 없는 미계측 저수지이다. 준공 이후 호우발생 시 퇴적된 토사 유입, 퇴사량 증가에 따른 저수지 용량 감소 및 산업 고도화에 따른 수질악화 등은 저수지의 용수공급능력을 저하시키고 형상 변화를 야기한다. 따라서, 디지털 정보 및 원격탐사 정보를 결합한 계측 기술을 활용하여 미계측 저수지 수체 모니터링을 위한 공간정보 구축 방안이 필요하다. 본 연구에서는 지표면의 고도정보와 형태를 파악할 수 있는 Light Detection And Ranging (LiDAR) 센서를 활용하여 저수지 시설물의 고해상도 Digital Surface Model (DSM), Digital Elevation Model (DEM) 자료를 구축하고, 멀티빔(MultiBeam) 음향 측심기 기반 수심측량 정보의 융합을 통해 디지털 공간정보 융합 방안을 제시하고자 한다. 드론용 LiDAR를 활용하여 공간해상도 50 cm의 DSM 및 DEM 자료를 구축하여, 저수지 제방, 여수로, 용수로 등의 수리시설물의 디지털 공간정보를 구축하였다. 다분광 영상을 활용하여 수체를 탐지하기 위해 정규식생지수(Normalized Difference Vegetation Index, NDVI), 정규수분지수(Normalized Difference Water Index, NDWI)를 산정하여, 저수지의 수표면을 산정하였다. 또한, 고해상도 DEM 자료는 수심측량 자료와 융합하여 수심도를 작성하였으며, Triangulated Irregular Network (TIN)로부터 저수지 만수면적 및 체적을 산정하였다. LiDAR 센서 및 멀티빔 기반의 수심측량, 광학위성자료 영상 및 다중분광 드론영상을 활용한 수체 탐지 기술 등의 공간정보 융합은 미계측 저수지의 디지털 인프라를 구축하여 저수지의 가용용수공급능력을 모니터링 하기 위한 기초자료로서 활용성이 높을 것으로 사료된다.

• 생태와환경
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• 제56권3호
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• pp.207-217
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• 2023

본 연구는 2023년 5~6월 낙동강하구에 생육하는 잘피 분포 현황을 조사하기 위해 실시하였다. 잘피 서식 면적을 조사하기 위해 낙동강하구를 7개 구역으로 구분하여 드론을 이용한 항공촬영을 실시하여 잘피 서식을 확인한 후 조간대에서는 도보로, 조하대에서는 선박 및 잠수조사로 GPS 트랙킹을 실시하였다. 잘피 현황을 분석하기 위해 각 구역에 대표적으로 출현하는 잘피의 종별 형태적 특성, 생육밀도와 생체량을 측정하였다. 낙동강하구에는 애기거머리말, 거머리말, 줄말과 게바다말이 출현하였고, 각 종의 분포 면적은 각각 338.2 ha, 92.9 ha, 0.9 ha와 1.4 ha로 총 잘피 서식지 면적은 432.5 ha로 조사되었다. 애기거머리말은 낙동강하구 대부분의 사주와 갯벌에 넓게 분포하였고, 거머리말은 눌차도, 진우도와 다대동에 서식하였다. 줄말은 을숙도와 명지갯벌의 애기거머리말 서식지 내에 출현하였고, 게바다말은 다대동의 암반에 생육하였다. 애기거머리말, 거머리말, 줄말과 게바다말의 생육 밀도는 각각 4,575.8±338.3 shoots m^-2, 244.8±12.0 shoots m^-2, 11,302.1±290.0 shoots m^-2와, 2,862.5±153.5 shoots m^-2였다. 생체량은 각각 239.7±18.5 gDW m^-2, 362.3±20.5 gDW m^-2, 33.3±1.2 gDW m^-2와, 1,290.0±37.0 gDW m^-2였다. 본 연구 결과 낙동강하구에는 애기거머리말이 우점하였고, 특히, 을숙도, 대마등과 명지갯벌의 애기거머리말 서식지는 국내 최대 규모로 형성되었음을 알 수 있었다. 낙동강하구는 생태적, 환경적, 경제적 가치가 높은 중요한 곳으로, 이곳에 생육하는 잘피의 지속적인 조사와 관리가 필요하다.

• Strategy21
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• 통권41호
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• pp.232-260
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• 2017

The purpose of this paper is to open a debate about what kind of deterrent strategy the ROK military should pursue in the era of NK's weapons of mass destruction and missile threats. I argue that the ROK military needs a comprehensive deterrent strategy that reflects the international security situations and trends and that builds on clear understanding of the basic concepts and how deterrence operates. The paper starts with surveying the basic knowledge of deterrence from the perspectives of both theory and practice. Then, it provides explanations on why deterrence against NK can be particularly difficult given the security environment in and around the Korean peninsula. For example, South Korea and North Korea hardly share 'common knowledge' that serves as a basic element for the operation of deterrence. Deterrence against North Korea involves complex situations in that both deterrence and compellence strategies may be relevant particularly to North Korea's WMD and missile threats. It also involves both immediate and general deterrence. Based on the discussion, I suggest several ideas that may serve as guidelines for establishing a deterrent strategy against NK. First, our threats for deterrence should be the ones that can be realized, particularly in terms of the international norms. In other words, they must be considered appropriate among other nations in the international community. Second, there should be separate plans for the different kinds of threats: one is conventional, local provocations and the other is WMD/missile related provocations. Third, we should pursue much closer cooperative relations with the U.S. military to enhance the effectiveness of immediate deterrence in the Korean peninsula. Fourth, the ROK military should aim to accomplish 'smart deterrence' maximizing the benefits of technological superiority. Fifth, the ROK military readiness and structure should be able to deny emerging North Korean military threats such as the submarine-launched ballistic missiles and intercontinental ballistic missiles. Lastly, in executing threats, we should consider that the current action influences credibility and reputation of the ROK, which in turn affect the decisions for future provocations. North Korea's WMD/missile threats may soon become critical strategic-level threats to South Korea. In retrospect, the first debate on building a missile defense system in South Korea dates back to the 1980s. Mostly the debate has centered on whether or not South Korea's system should be integrated into the U.S. missile defense system. In the meantime, North Korea has become a small nuclear power that can threaten the United States with the ballistic missiles capability. If North Korea completes the SLBM program and loads the missiles on a submarine with improved underwater operation capability, then, South Korea may have to face the reality of power politics demonstrated by Thucydides through the Athenians: "The strong do what they have the power to do, the weak accept what they have to accept."

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.495-500
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• 2006

Satellite systems for objects positioning appeared indispensable for performing basic tasks of maritime navigation. Navigation, understood as safe and effective conducting a vehicle from one point to another, within a specific physical-geographical environment. [Kopacz, $Urba{\acute{n}}ski$, 1998]. However, the systems have not solved the problem of accessibility to reliable and highly accurate information about a position of an object, especially if surveyed toward on-shore navigational signs or in sea depth. And it's of considerable significance for many navigational tasks, carried out within the frameworks of special works performance and submarine navigation. In addition, positioning precisely the objects other than vessels, while executing hydrographical works, is not always possible with a use of any satellite system. Difficulties with GPS application show up also while positioning such off-lying dangers as wrecks, underwater and aquatic rocks also other naturaland artificial obstacles. It is caused by impossibility of surveyors approaching directly any such object while its positioning. Moreover, determination of vessels positions mutually (mutual geometrical relations) by teams carrying out one common tasks at sea, demands applying the navigational techniques other than the satellite ones. Vessels'staying precisely on specified positions is of special importance in, among the others, the cases as follows: - surveying vessels while carrying out bathymetric works, wire dragging; - special tasks watercraft in course of carrying out scientific research, sea bottom exploration etc. The problems are essential for maritime economy and the Country defence readiness. Resolving them requires applying not only the satellite navigation methods, but also the terrestrial ones. The condition for implementation of the geo-navigation methods is at present the methods development both: in aspects of their techniques and technologies as well as survey data evaluation. Now, the classical geo-navigation comprises procedures, which meet out-of-date accuracy standards. To enable meeting the present-day requirements, the methods should refer to well-recognised and still developed methods of contemporary geodesy. Moreover, in a time of computerization and automation of calculating, it is feasible to create also such software, which could be applied in the integrated navigational systems, allowing carrying out navigation, provided with combinatory systems as well as with the new positioning methods. Whereas, as regards data evaluation, there should be applied the most advanced achievements in that subject; first of all the newest, although theoretically well-recognised estimation methods, including estimation [Hampel et al. 1986; $Wi{\acute{s}}niewski$ 2005; Yang 1997; Yang et al. 1999]. Such approach to the problem consisting in positioning a vehicle in motion and solid objects under observation enables an opportunity of creating dynamic and interactive navigational structures. The main subject of the theoretical suggested in this paper is the Interactive Navigational Structure. In this paper, the Structure will stand for the existing navigational signs systems, any observed solid objects and also vehicles, carrying out navigation (submarines inclusive), which, owing to mutual dependencies, (geometrical and physical) allow to determine coordinates of this new Structure's elements and to correct the already known coordinates of other elements.

• 터널과지하공간
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• 제33권6호
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• pp.594-609
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• 2023

TBM 공법은 굴착면 안정성 확보 및 주변환경에 비치는 영향을 최소화하기 때문에 도심지나 하·해저터널 등에서 적용 사례가 증가하는 추세이다. 디스크 커터의 수명을 예측하는 대표적인 모델 중 NTNU모델은 커터수명지수(Cutter Life Index, CLI)를 주요 매개 변수로 활용하지만 복잡한 시험절차와 시험장비의 희귀성으로 측정에 어려움이 있다. 본 연구에서는 다중선형회귀분석과 트리 기반의 머신러닝 기법으로 암석물성을 활용하여 CLI를 예측하였다. 문헌 조사를 통해 암석의 일축압축강도, 압열인장강도, 등 가석영함량과 세르샤 마모지수 등을 포함한 데이터베이스를 구축하였고 파생변수를 계산하여 추가하였다. 다중선형회귀분석은 통계적 유의성과 다중공선성을 고려하여 입력 변수를 선정하였고 머신러닝 예측 모델은 변수 중요도를 기반으로 입력 변수를 선정하였다. 학습용과 검증용 데이터를 8:2로 나누어 모델 간 예측 성능을 비교한 결과 XGBoost가 최적의 모델로 선정되었다. 본 연구에서 도출된 다중선형회귀모델과 XGBoost모델을 선행 연구와 예측 성능을 비교하여 타당성을 확인하였다.